Minimum-time trajectory control of a two-link flexible robotic manipulator
This paper analyzes the experimental and simulation results of a minimum-time trajectory control scheme for a two-link flexible robot. An off-line optimization routine determines a minimum-time, straight line tip trajectory which stays within the torque constraints of the motors and ends in a quiescent state, i.e., no vibrational transients. An efficient finite-element model is used in the optimization to approximate the flexible arm dynamics. The control strategy described here is used to determine the feedback gains for the position, velocity, and strain gage signals from a quadratic cost criterion based on the finite-element model linearized about the straight line tip trajectory. These feedback signals are added to the modeled torque obtained from the optimization routine and used to control the robot arm actuators. The results indicate that this combination of model-based and error-driven control strategies achieves a closer tracking of the desired trajectory and a better handling of modeling errors (such as tip payloads) than either strategy alone.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (USA)
- Sponsoring Organization:
- DOE/DP
- DOE Contract Number:
- AC04-76DP00789
- OSTI ID:
- 6296411
- Report Number(s):
- SAND-90-2472C; CONF-910451-10; ON: DE91001261
- Resource Relation:
- Conference: IEEE robotics and automation conference, Sacramento, CA (USA), 7-12 Apr 1991
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
MANIPULATORS
CONTROL SYSTEMS
EQUATIONS OF MOTION
FEEDBACK
FINITE ELEMENT METHOD
FLEXIBILITY
OPTIMIZATION
ROBOTS
SIMULATION
TRAJECTORIES
DIFFERENTIAL EQUATIONS
EQUATIONS
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
MECHANICAL PROPERTIES
NUMERICAL SOLUTION
PARTIAL DIFFERENTIAL EQUATIONS
REMOTE HANDLING EQUIPMENT
TENSILE PROPERTIES
420200* - Engineering- Facilities
Equipment
& Techniques